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<div class="title">harris_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_HARRIS_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_HARRIS_KEYPOINT_2D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/intensity.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> IntensityT = pcl::common::IntensityFieldAccessor&lt;Po<span class="keywordtype">int</span>InT&gt; &gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html">   54</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_harris_keypoint2_d.html">HarrisKeypoint2D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;HarrisKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const HarrisKeypoint2D&lt;PointInT, PointOutT, IntensityT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Keypoint&lt;PointInT, PointOutT&gt;::KdTree</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::keypoints_indices_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">enum</span> {HARRIS = 1, NOBLE, LOWE, TOMASI} ResponseMethod;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a253ac013906ccc19917d8bec63c3598b">   79</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a253ac013906ccc19917d8bec63c3598b">HarrisKeypoint2D</a> (ResponseMethod method = HARRIS, <span class="keywordtype">int</span> window_width = 3, <span class="keywordtype">int</span> window_height = 3, <span class="keywordtype">int</span> min_distance = 5, <span class="keywordtype">float</span> threshold = 0.0)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      : <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a> (threshold)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">refine_</a> (false)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a> (true)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a> (method)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a> (0)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a> (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;PointOutT&gt; ())</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">window_width_</a> (window_width)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">window_height_</a> (window_height)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">skipped_pixels_</a> (0)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      , <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a> (min_distance)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;HarrisKeypoint2D&quot;</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a91d7fef58256748302ba05a9e724ddf7">setMethod</a> (ResponseMethod type);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ae0587a8ce30ef1d36eb84e77e417680d">setWindowWidth</a> (<span class="keywordtype">int</span> window_width);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aa365f4785c8027780bb86a25f7996ff6">setWindowHeight</a> (<span class="keywordtype">int</span> window_height);      </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a485e82af9c31d2babf6b3ff3f184cce1">setSkippedPixels</a> (<span class="keywordtype">int</span> skipped_pixels);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a90e3f17bc44a4afee50678d522f9603b">setMinimalDistance</a> (<span class="keywordtype">int</span> min_distance);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ac8c72d04eca58d9c035c735f556efcbb">setThreshold</a> (<span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a22dab1af5e082f9ac938ceb3ac90ac39">setNonMaxSupression</a> (<span class="keywordtype">bool</span> = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a780a13a832c455e0f8e5d4c81df9bb0d">setRefine</a> (<span class="keywordtype">bool</span> do_refine);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a09be8c7b4d38db15cf67dd1f22304c9e">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a09be8c7b4d38db15cf67dd1f22304c9e">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aaec7c58804fae6fd9fef784681bd1e25">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aa5c0370a076cc2fd98a9df58fee1a2ad">responseHarris</a> (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      responseNoble (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      responseLowe (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      responseTomasi (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">//      void refineCorners (PointCloudOut &amp;corners) const;</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment"></span>      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aa1439eafe3edf60c1227975d1489db15">computeSecondMomentMatrix</a> (std::size_t pos, <span class="keywordtype">float</span>* coefficients) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">  158</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">threshold_</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">  160</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">refine_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">  162</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">nonmax_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">  164</a></span>&#160;      ResponseMethod <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">method_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">  166</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">threads_</a>;      </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      Eigen::MatrixXf derivatives_rows_;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      Eigen::MatrixXf derivatives_cols_;</div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">  172</a></span>&#160;      boost::shared_ptr&lt;pcl::PointCloud&lt;PointOutT&gt; &gt; <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">greaterIntensityAtIndices</a> (<span class="keywordtype">int</span> a, <span class="keywordtype">int</span> b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;at (a).intensity &gt; <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">response_</a>-&gt;at (b).intensity);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }      </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">  180</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">window_width_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">  182</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">window_height_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#ade82ce5b91a06c645daad9d4bee8d2c6">  184</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#ade82ce5b91a06c645daad9d4bee8d2c6">half_window_width_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a1c37b77666df155ddecfc0ea6b349b76">  186</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a1c37b77666df155ddecfc0ea6b349b76">half_window_height_</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">  188</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">skipped_pixels_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">  190</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">min_distance_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">  192</a></span>&#160;      IntensityT <a class="code" href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">intensity_</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  };</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/harris_2d.hpp&gt;</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_HARRIS_KEYPOINT_2D_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html">pcl::HarrisKeypoint2D</a></div><div class="ttdoc">HarrisKeypoint2D detects Harris corners family points</div><div class="ttdef"><b>Definition:</b> harris_2d.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a005f27db4a1f4f03d9606c87c4269ac6"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a005f27db4a1f4f03d9606c87c4269ac6">pcl::HarrisKeypoint2D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">number of threads to be used</div><div class="ttdef"><b>Definition:</b> harris_2d.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a09be8c7b4d38db15cf67dd1f22304c9e"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a09be8c7b4d38db15cf67dd1f22304c9e">pcl::HarrisKeypoint2D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> harris_2d.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a1c37b77666df155ddecfc0ea6b349b76"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a1c37b77666df155ddecfc0ea6b349b76">pcl::HarrisKeypoint2D::half_window_height_</a></div><div class="ttdeci">int half_window_height_</div><div class="ttdoc">half window height</div><div class="ttdef"><b>Definition:</b> harris_2d.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a1f5da154b775b2d0c47a958f7847e0a1"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a1f5da154b775b2d0c47a958f7847e0a1">pcl::HarrisKeypoint2D::method_</a></div><div class="ttdeci">ResponseMethod method_</div><div class="ttdoc">cornerness computation methode</div><div class="ttdef"><b>Definition:</b> harris_2d.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a22dab1af5e082f9ac938ceb3ac90ac39"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a22dab1af5e082f9ac938ceb3ac90ac39">pcl::HarrisKeypoint2D::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool=false)</div><div class="ttdoc">whether non maxima suppression should be applied or the response for each point should be returned</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a253ac013906ccc19917d8bec63c3598b"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a253ac013906ccc19917d8bec63c3598b">pcl::HarrisKeypoint2D::HarrisKeypoint2D</a></div><div class="ttdeci">HarrisKeypoint2D(ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> harris_2d.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a2a4ef9889533b30d10d4fe6d19ac1da8"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a2a4ef9889533b30d10d4fe6d19ac1da8">pcl::HarrisKeypoint2D::window_width_</a></div><div class="ttdeci">int window_width_</div><div class="ttdoc">Window width</div><div class="ttdef"><b>Definition:</b> harris_2d.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a32e31fe63235c872c9f3f613ead1c249"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a32e31fe63235c872c9f3f613ead1c249">pcl::HarrisKeypoint2D::greaterIntensityAtIndices</a></div><div class="ttdeci">bool greaterIntensityAtIndices(int a, int b) const</div><div class="ttdoc">comparator for responses intensity</div><div class="ttdef"><b>Definition:</b> harris_2d.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a41ed4719c1edc36eb745eb36d53cfe2b"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a41ed4719c1edc36eb745eb36d53cfe2b">pcl::HarrisKeypoint2D::response_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::PointCloud&lt; PointOutT &gt; &gt; response_</div><div class="ttdoc">intermediate holder for computed responses</div><div class="ttdef"><b>Definition:</b> harris_2d.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a485e82af9c31d2babf6b3ff3f184cce1"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a485e82af9c31d2babf6b3ff3f184cce1">pcl::HarrisKeypoint2D::setSkippedPixels</a></div><div class="ttdeci">void setSkippedPixels(int skipped_pixels)</div><div class="ttdoc">Set number of pixels to skip</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:87</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a5992081715c2fdaca6fa0b2cfa2cc540"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a5992081715c2fdaca6fa0b2cfa2cc540">pcl::HarrisKeypoint2D::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">intensity field accessor</div><div class="ttdef"><b>Definition:</b> harris_2d.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a780a13a832c455e0f8e5d4c81df9bb0d"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a780a13a832c455e0f8e5d4c81df9bb0d">pcl::HarrisKeypoint2D::setRefine</a></div><div class="ttdeci">void setRefine(bool do_refine)</div><div class="ttdoc">whether the detected key points should be refined or not. If turned of, the key points are a subset o...</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a90e3f17bc44a4afee50678d522f9603b"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a90e3f17bc44a4afee50678d522f9603b">pcl::HarrisKeypoint2D::setMinimalDistance</a></div><div class="ttdeci">void setMinimalDistance(int min_distance)</div><div class="ttdoc">Set minimal distance between candidate keypoints</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a91d7fef58256748302ba05a9e724ddf7"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a91d7fef58256748302ba05a9e724ddf7">pcl::HarrisKeypoint2D::setMethod</a></div><div class="ttdeci">void setMethod(ResponseMethod type)</div><div class="ttdoc">set the method of the response to be calculated.</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_a9da0b134f23866946aa95bcbdbc45680"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#a9da0b134f23866946aa95bcbdbc45680">pcl::HarrisKeypoint2D::min_distance_</a></div><div class="ttdeci">int min_distance_</div><div class="ttdoc">minimum distance between two keypoints</div><div class="ttdef"><b>Definition:</b> harris_2d.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aa1439eafe3edf60c1227975d1489db15"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aa1439eafe3edf60c1227975d1489db15">pcl::HarrisKeypoint2D::computeSecondMomentMatrix</a></div><div class="ttdeci">void computeSecondMomentMatrix(std::size_t pos, float *coefficients) const</div><div class="ttdoc">calculates the upper triangular part of unnormalized covariance matrix over intensities given by the ...</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:101</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aa365f4785c8027780bb86a25f7996ff6"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aa365f4785c8027780bb86a25f7996ff6">pcl::HarrisKeypoint2D::setWindowHeight</a></div><div class="ttdeci">void setWindowHeight(int window_height)</div><div class="ttdoc">Set window height</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aa5c0370a076cc2fd98a9df58fee1a2ad"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aa5c0370a076cc2fd98a9df58fee1a2ad">pcl::HarrisKeypoint2D::responseHarris</a></div><div class="ttdeci">void responseHarris(PointCloudOut &amp;output) const</div><div class="ttdoc">gets the corner response for valid input points</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:293</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aae6c31094a9f3d5e3a2b0d5458b2694c"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aae6c31094a9f3d5e3a2b0d5458b2694c">pcl::HarrisKeypoint2D::nonmax_</a></div><div class="ttdeci">bool nonmax_</div><div class="ttdoc">non maximas suppression</div><div class="ttdef"><b>Definition:</b> harris_2d.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_aaec7c58804fae6fd9fef784681bd1e25"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#aaec7c58804fae6fd9fef784681bd1e25">pcl::HarrisKeypoint2D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:173</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_ab69e5e33cfd310bc7df6b1d8f0669215"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#ab69e5e33cfd310bc7df6b1d8f0669215">pcl::HarrisKeypoint2D::threshold_</a></div><div class="ttdeci">float threshold_</div><div class="ttdoc">threshold for non maxima suppression</div><div class="ttdef"><b>Definition:</b> harris_2d.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_abe7421d10f31e7267e0601ffe83ee117"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#abe7421d10f31e7267e0601ffe83ee117">pcl::HarrisKeypoint2D::skipped_pixels_</a></div><div class="ttdeci">int skipped_pixels_</div><div class="ttdoc">number of pixels to skip within search window</div><div class="ttdef"><b>Definition:</b> harris_2d.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_ac8c72d04eca58d9c035c735f556efcbb"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#ac8c72d04eca58d9c035c735f556efcbb">pcl::HarrisKeypoint2D::setThreshold</a></div><div class="ttdeci">void setThreshold(float threshold)</div><div class="ttdoc">set the threshold value for detecting corners. This is only evaluated if non maxima suppression is tu...</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_ade82ce5b91a06c645daad9d4bee8d2c6"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#ade82ce5b91a06c645daad9d4bee8d2c6">pcl::HarrisKeypoint2D::half_window_width_</a></div><div class="ttdeci">int half_window_width_</div><div class="ttdoc">half window width</div><div class="ttdef"><b>Definition:</b> harris_2d.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_ae0587a8ce30ef1d36eb84e77e417680d"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#ae0587a8ce30ef1d36eb84e77e417680d">pcl::HarrisKeypoint2D::setWindowWidth</a></div><div class="ttdeci">void setWindowWidth(int window_width)</div><div class="ttdoc">Set window width</div><div class="ttdef"><b>Definition:</b> harris_2d.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_af28961911d79a0926a5fc1110c9d4d84"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#af28961911d79a0926a5fc1110c9d4d84">pcl::HarrisKeypoint2D::window_height_</a></div><div class="ttdeci">int window_height_</div><div class="ttdoc">Window height</div><div class="ttdef"><b>Definition:</b> harris_2d.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint2_d_html_afd717f291207e72a70f0b40eb9efdb2e"><div class="ttname"><a href="classpcl_1_1_harris_keypoint2_d.html#afd717f291207e72a70f0b40eb9efdb2e">pcl::HarrisKeypoint2D::refine_</a></div><div class="ttdeci">bool refine_</div><div class="ttdoc">corner refinement</div><div class="ttdef"><b>Definition:</b> harris_2d.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
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